System for registration of survey points

ABSTRACT

The invention relates to a survey system comprising an antenna, a sensor, and a control unit. The antenna is configured for receiving one or more positioning signal, such as for example global navigation satellite system (GNSS) signals. The sensor is configured for determining whether the antenna is in a static state, and/or producing information based on which a determination as to whether the antenna is in a static state can be made. The control unit is configured for, if the antenna is determined to be in a static state, obtaining a positioning measurement based on the positioning signal(s). The invention also relates to a method for operating such a system, and to computer programs and computer program products for carrying out such a method.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims priority to European Application No. EP16 193 020.1, filed Oct. 10, 2016, the entire contents of which areincorporated herein by reference in their entirety for all purposes.

FIELD OF TECHNOLOGY

The invention relates generally to the field of surveying. The fields ofapplication of the systems, methods and computer programs of theinvention include, but are not limited to, navigation, map-making, landsurveying, civil engineering, agriculture, disaster prevention andrelief, and scientific research.

BACKGROUND

Surveying techniques typically involve a reference antenna/receiverlocated at a known point and a single operator who moves about with aroving antenna/receiver, or “GNSS total station”. The operator stops onvarious unknown points to record position information in a datacollector using signals transmitted by a minimum number of satelliteswhich are above the horizon. The satellite positions are monitoredclosely from earth and act as reference points from which anantenna/receiver in the field is able to determine position information.By measuring the travel time of signals transmitted from a number ofsatellites, the receiver is able to determine corresponding distancesfrom the satellites to the antenna phase centre, and then the positionof the antenna by solving a set of simultaneous equations. The rovingantenna is typically carried atop a range pole which is held by theoperator to provide a clear view of the sky, although the roving antennaneed not be within sight of the reference antenna. A vector or baselineis determined from a reference site to the rover. The need for areference site is eliminated when a regional or global network ofreference sites has been incorporated into the system, which allows theabsolute position of the rover to be determined in a global referenceframe such as the International Terrestrial Reference System (ITRF).

Surveyors may have to measure dozens or possibly hundreds of pointsduring a typical work period. For each point, the survey pole, alsoknown as “range pole”, “rover pole”, or “roving pole”, must be orientedvertically over the ground point for a short time, and the survey point(or “stake-out” point when a physical mark is to be established) isregistered by pressing a button on a handheld controller, which istypically connected to a global navigation satellite system (GNSS)receiver to store the point, i.e. to store positioning informationassociated with the point. This is a tedious procedure. In particular,in accordance with best survey practice, the survey pole has to be setvertically using a physical or electronical bubble and the operator thenhas to press a button on the survey controller which usually is mountedon the survey pole. At the time when the “save” or “store” button ispressed on the handheld device, the survey pole may have moved from thevertical (historically known as “pole wobble”) due to, for example,carelessness or the effect of wind force. This is a potential source ofpositioning errors.

The receiver of type TRIUMPH-VS from JAVAD GNSS Inc., San Jose, Calif.,USA, incorporates a so-called “Lift & Tilt” mode. In that mode,orienting the survey pole vertically or near vertically (better than 5degrees) over the ground leads to the automatic registration of thecurrent survey point. Thereafter, tilting the pole leads to closing thefile, thus recording positioning information associated with the pointin memory. The “Lift & Tilt” mode is described on the following web page(consulted on Sep. 30, 2016):https://www.javad.com/jgnss/javad/news/pr20110302.html.

There is a constant need for improving surveying devices and methods foroperating those, so as notably to increase their usability, to increasethe productivity of the survey and positioning systems, and to reduceunintentional errors introduced during field procedures.

SUMMARY

The present invention aims at addressing, at least partially, theabove-mentioned need. The invention includes systems, methods, computerprograms, and computer readable mediums as defined in the independentclaims. Particular embodiments are defined in the dependent claims.

In one embodiment, a survey system comprises: an antenna configured toreceive at least one positioning signal; a sensor configured todetermining whether the antenna is in a static state, and/or producinginformation based on which a determination as to whether the antenna isin a static state can be made; and a control unit configured for, if theantenna is determined to be in a static state, obtaining a positioningmeasurement (also known as “ranging measurement”) based on the at leastone positioning signal.

In contrast to prior art systems, the above-described survey system doesnot rely on the verticality of a survey pole (or similar device) toregister a survey point, but rather relies on detecting whether theantenna (and the survey pole or similar device carrying the antenna) isstatic (or near static), which leads to a more flexible surveyingprocess since it is sometimes difficult if not impossible to set up thesurvey pole (or similar device) vertically above a ground point asobjects, obstacles, or the configuration of the terrain may prevent theoperator from doing so.

The invention also relates to a method for operating a survey systemcomprising an antenna configured to receive at least one positioningsignal. A sensor performs at least one of the following operations:determining whether the antenna is in a static state, and producinginformation based on which a determination as to whether the antenna isin a static state can be made. If the antenna is determined to be in astatic state, the control unit obtains a positioning measurement basedon the at least one positioning signal.

The invention also relates, in some embodiments, to computer programs,computer program products, computer readable mediums, and storagemediums for storing such computer programs, comprisingcomputer-executable instructions for carrying out, when executed on acomputer such as one embedded in a survey apparatus or connectedthereto, the above-mentioned method.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention shall now be described, inconjunction with the appended drawings in which:

FIG. 1 schematically illustrates a survey system in one embodiment ofthe invention, and an exemplary environment wherein such a survey systemmay be used;

FIG. 2a schematically illustrates a survey system comprising a surveyapparatus having a sensor and a control unit, in one embodiment of theinvention;

FIG. 2b schematically illustrates a survey system comprising, on the onehand, a survey apparatus having a sensor, and, on the other hand, acontrol unit arranged outside the survey apparatus, in one embodiment ofthe invention;

FIG. 3 is a flowchart of a method of operation of a survey system in oneembodiment of the invention;

FIG. 4 is another flowchart of a method of operation of a survey systemin one embodiment of the invention, wherein the antenna is determined tobe in a static state when it has been static or near static for apredetermined period of time;

FIG. 5 is a flowchart of a method of operation of a survey system in oneembodiment of the invention, wherein, after a positioning measurementhas been obtained, the positioning measurement is stored in a storageunit;

FIG. 6 is a flowchart of a method of operation of a survey system in oneembodiment of the invention, wherein, after a positioning measurementhas been obtained and the antenna is determined no longer to be static,the positioning measurement is stored in a storage unit; and

FIGS. 7 and 8 are flowcharts of methods of operation of a survey systemin two embodiments of the invention, wherein subjecting the antenna to amotion pattern leads to the issuance of a cancel command signal.

DETAILED DESCRIPTION

The present invention shall now be described in conjunction withspecific embodiments. The specific embodiments serve to provide theskilled person with a better understanding, but are not intended to inany way restrict the scope of the invention, which is defined byappended claims. In particular, the embodiments described independentlythroughout the description can be combined to form further embodimentsto the extent that they are not mutually exclusive.

As used herein, the terms “survey” and “surveying” include, but are notlimited to, topographic, geodetic, detail, stake-out, site checking,boundary and local control work. Embodiments of the present inventionare potentially useful in all such aspects of surveying, and in anyother work which involves an operator who takes measurements with asurvey pole or similar device. Embodiments of the invention may beuseful with any remote positioning system that is suitable for surveywork, whether satellite-based (e.g., global positioning system (GPS),the global orbiting navigation system (GLONASS), Galileo, BeiDou (BDS),etc.) or land-based (e.g., a radio navigation system that simulates aconfiguration of satellites).

As used herein, the term “operator” includes, but is not limited to, ahuman, or a robot programmed to perform survey functions as describedherein (e.g. carrying a survey device(s) and stopping periodically toperform the survey).

FIG. 1 schematically illustrates a survey system 100 in one embodimentof the invention, comprising for example a GNSS total station, which maybe used to perform survey work. Survey system 100 comprises an antenna10, a sensor 30, and a control unit 40 (not illustrated in FIG. 1).Control unit 40 may be arranged in a survey apparatus 120 comprisingantenna 10 and sensor 30 as well, as schematically illustrated in FIG.2a , or may be arranged outside survey apparatus 120 and connected tosensor 30 using wired or wireless means, as schematically illustrated inFIG. 2b , or connected to survey apparatus 120 using wired or wirelessmeans and thus indirectly to sensor 30. Survey system 100 comprises asurvey pole 20, which may for example be a one-legged portable stand(i.e., a monopod) comprising a rod supporting the antenna 10. Surveypole 20 is positioned over the ground 50. Other supporting structuresthan a pole may be used, such as for example a bipod or tripod.

Antenna 10 is configured to receive one or more positioning signals,such as for example a GPS signal (such as the L1, L2 or L5 signal), aGLONASS signal, a Galileo signal, a BeiDou (BDS) signal, a QZSS signal,an IRNSS signal, or any combination thereof. In other words, antenna 10is configured to receive signals at the frequencies broadcasted bysatellites 200. If a given navigation satellite system (NSS) satellite200 emits more than one NSS signal, antenna 10 may receive more than oneNSS signal from said NSS satellite 200. Furthermore, antenna 10 mayreceive NSS signals from a single NSS or, alternatively, from aplurality of different NSS. Survey system 100 may as well includemultiple antennas 10 on a single survey pole 20. In one embodiment,antenna 10 is a NSS antenna, i.e. a GNSS and/or a regional NSS (RNSS)antenna.

Sensor 30 is configured to determine whether the survey apparatuscomprising antenna 10 is in a static state and, if so, to output asignal, here referred to as “static state signal”, indicating thatantenna 10 (and the survey apparatus carrying it) is in a static state.If survey system 100 comprises a survey pole 20 attached to antenna 10(as illustrated), sensor 30 is therefore configured to determine whetherthe survey apparatus comprising antenna 10 and survey pole 20 is in astatic state. In one embodiment, sensor 30 is configured to determinewhether the survey apparatus comprising antenna 10 and survey pole 20 isin a static state no matter whether survey pole 20 nears a verticalposition or not.

The expression “in a static state” means here either static or nearstatic, wherein “near static” means static within a predeterminedthreshold tolerance level.

Sensor 30 may be, may be part of, or may comprise an inertial navigationsystem (INS), comprising for example one or more accelerometers (e.g., amicro-electro-mechanical systems (MEMS) accelerometer), and/or one ormore gyroscopes, for the purpose of determining that the surveyapparatus comprising antenna 10 is in a static state. Additionally, oralternatively, sensor 30 may comprise one or more cameras, one or morevideo cameras, or a combination of any of those, for the purpose ofdetermining that the survey apparatus comprising antenna 10 is in astatic state. The degree of change in images recorded over time by acamera (or cameras) or video camera (or video cameras) may be usable todetermine whether the survey apparatus comprising antenna 10 is staticor, instead, mobile. Such camera(s) or video camera(s) is typicallydirected towards the ground. In one embodiment, sensor 30 is an inertialsensor or inertial measurement unit (IMU). Sensor 30 may for example berigidly attached to an outside of, or rigidly embedded inside, surveypole 20 or antenna 10.

Control unit 40 is configured to obtain (i.e., acquire or receive) theabove-referred static state signal from sensor 30 and, upon obtainingsaid static state signal, to obtain a positioning measurement based onthe positioning signal(s). Positioning measurements may for example bederived from pseudo-random number (PRN) code measurements and/or carrierphase measurements using methods well known in the art. Control unit 40may be configured exclusively to obtain the static state signal fromsensor 30 and, upon obtaining said static state signal, to obtain apositioning measurement based on the positioning signal(s), or,alternatively, control unit 40 may be configured to perform otheroperations as well, no matter the nature of these operations, whetherthose are typically associated for example with a survey controller, aGNSS receiver, or an INS. Control unit 40 may for example be attached toan outside of, or embedded inside, survey pole 20 or antenna 10 (asschematically illustrated by FIG. 2a ). Control unit 40 may also bearranged in a handheld controller (or the like) that is not, or need notbe, attached to survey pole 20 or antenna 10 (as schematicallyillustrated by FIG. 2b ).

As already briefly discussed above, in contrast to prior art systems,survey system 100 does not rely on the verticality of survey pole 20 toregister survey points, but rather relies on detecting the static stateof survey pole 20. For operators, this increases the flexibility of thesurveying process, since it is sometimes difficult or even impossible toorient a survey pole vertically above a ground point because objects,obstacles, or the configuration of the terrain may prevent the operatorfrom doing so.

The survey apparatus comprising antenna 10 and survey pole 20 may alsocomprise various other elements, such as any one of, or any combinationof: a) one or more housings for containing, covering and/or protectingantenna 10, sensor 30 and optionally control unit 40; b) supportingelements integrally formed within the housing(s), or attached thereto,to maintain antenna 10, sensor 30 and optionally control unit 40 inplace relative to the housing(s); c) one or more central processingunits (CPU) or processors (e.g., for processing raw data from sensor30); d) one or more accurate clocks (such as crystal oscillators oratomic disciplined crystal oscillators); e) one or more data storageunits (RAM, ROM, flash memory, or the like); f) one or more removabledata storage unit (e.g., SD Card and/or USB slots); g) wired or wirelesscommunication means (e.g., Ethernet, Wi-Fi, or Bluetooth); h) one ormore input and/or output user interfaces for providing information toand receiving information from an operator (e.g., keyboard(s),keypad(s), display screen(s), touch screen(s), push-button(s), controlknob(s), LED indicator light(s), speaker(s), microphone(s), etc.); i)one or more batteries or photovoltaic (solar) cells for powering variouselectronic parts of the survey apparatus comprising antenna 10, sensor30, and optionally control unit 40; j) one or more cables, wired orwireless (for example Wi-Fi or Bluetooth) connections for connecting thesurvey apparatus to other pieces of equipment or peripherals; k) one ormore handles or shoulder straps; etc. The survey apparatus comprisingantenna 10, sensor 30, and optionally control unit 40, may be connectedor connectable, wirelessly or not, to other pieces of equipment, such asfor example a hand-held controller, a GNSS receiver (hosting e.g. areal-time kinematic (RTK) engine), or any other portable device.

FIG. 3 is a flowchart of a method of operation of a survey system 100 inone embodiment of the invention. The method comprises the followingsteps:

Sensor 30 determines s1 whether antenna 10 (and the apparatus carryingit, hereinafter referred to in combination with the antenna as the“antenna-carrying apparatus”) is in a static state. If so, sensor 30outputs s2 a static state signal indicating that the antenna-carryingapparatus is in a static state. For example, the determination that theantenna-carrying apparatus is in a static state may be based on astandard deviation computation of accelerometer data over a period oftime (e.g., 250 ms). The accelerometer data may for example be providedat a frequency of 50, 100, 150, or 200 Hz. For example, 100 Hz data maybe provided using the inertial sensor technology available in theTrimble BD935-INS receiver module, which is commercially available fromTrimble Navigation Limited, based in Sunnyvale, Calif., USA, anddescribed on the following web page:http://www.intech.trimble.com/oem_gnss/receiver_boards/trimble_bd935-ins(consulted on Oct. 6, 2016). The datasheet of the Trimble BD935-INSproduct is available from:http://www.intech.trimble.com/library/DS_BD935-INS_US.pdf (consulted onOct. 6, 2016).

Control unit 40 obtains s3 the static state signal from sensor 30, and,upon obtaining said static state signal, control unit 40 obtains s4 apositioning measurement based on the positioning signal(s) received byantenna 10.

In one embodiment, the data from sensor 30, such as for examplegyroscope data, is also used to retrieve the current attitude of surveypole 20. This enables the measurement of a point even when survey pole20 is not vertically oriented. In other words, if survey pole 20 is notset up vertically above the ground point, a tilted measurement may bemade of the antenna-carrying apparatus position, which can then becorrected (or translated) to the point of the survey pole 20 thanks tothe knowledge of the attitude (roll, pitch and yaw) and the length ofsurvey pole 20.

It has been mentioned above that, in one embodiment, sensor 30 isconfigured to determine whether the survey apparatus comprising antenna10 and survey pole 20 is in a static state no matter whether survey pole20 nears a vertical position or not. That is, a determination as towhether antenna 10 is in a static state may be independent from whethersurvey pole 20 (or the like) nears a vertical position. In oneembodiment, survey system 100 is nonetheless limited to operate only ifsurvey pole 20 (or the like) is not tilted more than a threshold angle.In one embodiment, the threshold angle is a value comprised between 15and 90 degrees, preferably between 25 and 90 degrees, such as forexample 25, 30, 35, 40, 45, 50, 60, 75, or 90 degrees from the verticalposition of survey pole 20 (or the like). This limitation in theoperation of survey system 100 may for example be implemented by any oneof, or by a combination of, the following means:

-   -   a) sensor 30 is configured for, only if survey pole 20 (or the        like) is not tilted more than the threshold angle, determining        whether antenna 10 is in a static state;    -   b) sensor 30 is configured for, only if survey pole 20 (or the        like) is not tilted more than the threshold angle, outputting        the static state signal (provided that antenna 10 is determined        to be in a static state);    -   c) sensor 30 is configured for, only if survey pole 20 (or the        like) is not tilted more than the threshold angle, producing        information based on which a determination as to whether antenna        10 is in a static state can be made;    -   d) control unit 40 is configured for, only if survey pole 20 (or        the like) is not tilted more than the threshold angle, and if        antenna 10 is determined to be in a static state, obtaining a        positioning measurement based on the positioning signal(s); and    -   e) control unit 40 is configured for, only if survey pole 20 (or        the like) is not tilted more than the threshold angle, storing        the positioning measurement in a storage unit.

FIG. 4 is a flowchart of a method of operation of a survey system 100 inone embodiment of the invention, wherein the antenna-carrying apparatusis determined s1 a to be static or near-static when, and preferably onlywhen, it has been static or near-static for a predetermined period oftime. In other words, sensor 30 outputs s2 the static state signal onlyafter determining s1 a that the antenna-carrying apparatus has beenstatic or near-static for a predefined period of time. The predefinedperiod of time may for example be a value comprised between 1 and 20seconds, in particular a value comprised between 1 and 10 seconds, andmore in particular a value comprised between 2 and 5 seconds. In oneembodiment, the predefined period of time is 3 seconds.

FIG. 5 is a flowchart of a method of operation of a survey system 100 inone embodiment of the invention, wherein, after a positioningmeasurement is obtained s4, the positioning measurement is stored s5(i.e., coordinates of the point, or any information useful to determinethe position of the point, are stored). In other words, after controlunit 40 obtains s3 the static state signal from sensor 30 and thereafterobtains s4 the positioning measurement based on the positioningsignal(s) received by antenna 10, control unit 40 stores s5 thepositioning measurement in a storage unit.

FIG. 6 is a flowchart of a method of operation of a survey system 100 inone embodiment of the invention, wherein, after a positioningmeasurement is obtained s4 and antenna 10 is determined s6 no longer tobe static, the positioning measurement is stored s9. More in particular,sensor 30 determines s6 that the antenna-carrying apparatus is no longerstatic, and sensor 30 then outputs s7 a signal, referred to as “motionstate signal”, which indicates that the antenna-carrying apparatus is nolonger static. Control unit 40 obtains s8 the motion state signal fromsensor 30 and then stores s9 the positioning measurement in a storageunit. This embodiment (i.e., a motion-controlled point registrationprocess, performed after detection of a movement of the survey pole)contributes to an automated registration of survey points, in that theoperator does not necessarily have to press a button on a handheldcontroller to register a point—and optionally removing the need for anyhandheld controller—, thus increasing the productivity for operators andallowing the registration of more points in a given period of time withor without a handheld controller.

In one embodiment, once the positioning measurement has been stored s9in a storage unit, a feedback, such as for example a visual or audiofeedback, is issued, to inform the operator that the point has beenregistered and that the survey can be carried on with the next point, ifany.

FIGS. 7 and 8 are flowcharts of methods of operation of a survey system100 in two embodiments of the invention, wherein subjecting theapparatus comprising antenna 10, sensor 30, and optionally control unit40 to a predefined motion pattern leads to the issuance of a so-called“cancel command signal”.

In particular, in the method illustrated by FIG. 7, after thepositioning measurement has been stored s5 (as described above withreference to FIG. 5), sensor 30 determines s10 that the antenna-carryingapparatus has been subject to a motion pattern comprising a predefinedmotion or a predefined set of motions, such as a gesture or set ofgestures performed by the operator holding survey pole 20. Examples ofgestures with the pole include: a stirring movement to the right or tothe left, a swinging forward, backward or crosswise, a vertical movementup or down, or the like.

Sensor 30 then outputs s11 a cancel command signal, which indicates thatthe antenna-carrying apparatus has been subject to the motion pattern.Control unit 40 obtains s12 said cancel command signal from sensor 30and, then, control unit 40 performs s13 one of the following operations:deleting the stored positioning measurement from the storage unit, andmarking (i.e., flagging) the stored positioning measurement such that itmay be later identified and considered for deletion. This embodimentcontributes to an automated management of data in the context ofregistration of survey points, especially in the event that the operatorhas realized that the previously registered point was incorrect, forexample, taken at the wrong location or in the wrong sequence, or thesetup was faulty, for example, due to carelessness in the placement ofthe tip of the survey pole 20.

The method illustrated by FIG. 8 combines the steps described withreference to FIGS. 6 and 7.

In embodiments of any one of the methods described with reference toFIGS. 7 and 8, once the stored positioning measurement has been deletedfrom the storage unit, or once it has been marked such that it may belater identified and considered for deletion, a feedback, such as forexample a visual or audio feedback, may be issued, to inform theoperator that the point registration has been cancelled or flagged aspotentially problematic.

In relation to the embodiments described above with reference to FIGS. 1to 8, it has been explained that sensor 30 may output a static statesignal indicating that the antenna-carrying apparatus is in a staticstate, a motion state signal indicating that the antenna-carryingapparatus is no longer static, or a cancel command signal indicatingthat the antenna-carrying apparatus has been subject to a predefinedmotion pattern (the so-called “cancel command motion pattern)”. In otherembodiments of the invention however, instead of (or in addition to)outputting these signals, sensor 30 may produce and output information,such as for example raw accelerometer data, based on which adetermination is later made outside sensor 30. In particular, in oneembodiment, a determination as to whether the antenna-carrying apparatusis in a static state is made by control unit 40, or any other processingunit, based on information outputted by sensor 30. In one embodiment, adetermination as to whether the antenna-carrying apparatus is no longerstatic is made by control unit 40, or any other processing unit, basedon information outputted by sensor 30. In one embodiment, adetermination as to whether the antenna-carrying apparatus has beensubject to a predefined motion pattern (the so-called “cancel commandmotion pattern”) is made by control unit 40, or any other processingunit, based on information outputted by sensor 30.

Any of the above-described methods and their embodiments may beimplemented, at least partially, by means of a computer program or a setof computer programs. The computer program(s) may be loaded on a surveyapparatus with an embedded or remotely attached control unit 40, whereinthe survey apparatus may for example be a NSS receiver (running on arover station), with or without a hand-held controller. Therefore, theinvention also relates to computer programs, which, when carried out ona survey apparatus, such as for example a NSS receiver (running on arover station), with or without a hand-held controller, carries out anyone of the above-described methods and their embodiments.

The invention also relates to a computer-readable medium or acomputer-program product including the above-mentioned computer program.The computer-readable medium or computer-program product may forinstance be a magnetic tape, an optical memory disk, a magnetic disk, amagneto-optical disk, a CD-ROM, a DVD, a CD, a flash memory unit or thelike, wherein the computer program is permanently or temporarily stored.The invention also relates to a computer-readable medium (or to acomputer-program product) having computer-executable instructions forcarrying out any one of the methods of the invention.

The invention also relates to a software or firmware update adapted tobe installed on receivers already in the field, i.e. a computer programwhich is delivered to the field as a computer program product. Thisapplies to each of the above-described methods, systems and apparatuses.

Where the term “control unit” or the like is used herein as units of anapparatus (such as a NSS receiver, or hand-held controller), norestriction is made regarding how distributed the constituent parts of aunit may be. That is, the constituent parts of a unit may be distributedin different software or hardware components or devices for bringingabout the intended function. Furthermore, the units may be gatheredtogether for performing their functions by means of a combined, singleunit.

The above-mentioned units—such as for example control unit 40—andsub-units may be implemented using hardware, software, a combination ofhardware and software, pre-programmed ASICs (application-specificintegrated circuit), etc. A unit may include a central processing unit(CPU), a storage unit, input/output (I/O) units, network connectiondevices, etc.

Although the present invention has been described on the basis ofdetailed examples, the detailed examples only serve to provide theskilled person with a better understanding, and are not intended tolimit the scope of the invention. The scope of the invention is muchrather defined by the appended claims.

The invention claimed is:
 1. Survey system comprising: an antennaconfigured for receiving at least one positioning signal; a sensorcoupled to the antenna and configured for: determining that the antennais in a static state, wherein in the static state is static within apredetermined threshold tolerance level; and producing a first outputsignal indicating that the antenna is in the static state; a controlunit configured for: receiving the first output signal indicating thatthe antenna is in the static state; and upon receiving the first outputsignal, automatically obtaining a positioning measurement based on theat least one positioning signal; a survey pole coupled to the antenna insuch a manner that, when the antenna is in the static state, the surveypole is also in the static state, wherein determining that the antennais in the static state is independent from determining whether thesurvey pole nears a vertical position.
 2. Survey system of claim 1,wherein the sensor comprises at least one of an accelerometer, agyroscope, a camera, and a video camera.
 3. Survey system of claim 1,wherein the antenna is determined to be in the static state upondetermining that the antenna has been in the static state for apredefined period of time.
 4. Survey system of claim 3, wherein thepredefined period of time is a value comprised between 1 and 20 seconds.5. Survey system of claim 1, wherein the sensor is further configuredfor: after determining that the antenna is in a static state,determining that the antenna is no longer in the static state; andproducing a second output signal indicating that the antenna is nolonger in the static state; and the control unit is further configuredfor: receiving the second output signal indicating that the antenna isno longer in the static state; and upon receiving the second outputsignal, storing the positioning measurement in a storage unit.
 6. Surveysystem of claim 1, wherein the control unit is further configured for,after obtaining the positioning measurement, and once the antenna is nolonger determined to be in the static state, storing the positioningmeasurement in a storage unit.
 7. Survey system comprising: an antennaconfigured for receiving at least one position signal; a sensorconfigured for at least one of: determining whether the antenna is in astatic state, wherein in the static state is static within apredetermined threshold tolerance level, producing information based onwhich a determination as to whether the antenna is in the static statecan be made, determining that the antenna has been subject to a motionpattern, hereinafter referred to as “cancel command motion pattern”,comprising at least one of: a predefined motion; and a predefined set ofmotions; producing information based on which a determination that theantenna has been subject to the cancel command motion pattern can bemade; a control unit configured for determining if the antenna is in thestatic state and obtaining a position measurement based on the at leastone positioning signal, and if the antenna is determined to have beensubject to the cancel command motion pattern, at least one of: deletingthe position measurement from a storage unit, and marking the positionmeasurement such that it may be identified and considered for deletion;a survey pole to which the antenna is attached in such a manner that,when the antenna is in the static state, the survey pole is also in thestatic state, wherein determining whether the antenna and the surveypole are in the static state is independent from determining whether thesurvey pole nears a vertical position.
 8. Survey system of claim 7,wherein the sensor comprises at least one of an accelerometer, agyroscope, a camera, and a video camera.
 9. The survey system of claim7, wherein the predetermined threshold tolerance level is a predefinedperiod of time.
 10. The survey system of claim 9, wherein the predefinedperiod of time is between 1 and 20 seconds.
 11. The survey system ofclaim 9, wherein the predefined period of time is between 1 and 10seconds.
 12. The survey system of claim 9, wherein the predefined periodof time is between 2 and 5 seconds.
 13. The survey system of claim 9,wherein the predefined period of time is 3 seconds.
 14. The surveysystem of claim 1, wherein the predetermined threshold tolerance levelis a predefined period of time.
 15. The survey system of claim 14,wherein the predefined period of time is between 1 and 20 seconds. 16.The survey system of claim 14, wherein the predefined period of time isbetween 1 and 10 seconds.
 17. The survey system of claim 14, wherein thepredefined period of time is between 2 and 5 seconds.
 18. The surveysystem of claim 14, wherein the predefined period of time is 3 seconds.19. A survey apparatus comprising: an antenna configured for receivingat least one positioning signal; a sensor coupled to the antenna andconfigured for producing information based on which a determination thatthe antenna is static can be made; a control unit configured for:receiving the information from the sensor; determining that the antennais static using the information; and upon determining that the antennais static, obtaining a positioning measurement based on the at least onepositioning signal; a survey pole coupled to the antenna in such amanner that, when the antenna is static, the survey pole is also static,wherein determining that the antenna is static is independent fromdetermining whether the survey pole is in a vertical position.
 20. Thesurveying apparatus of claim 19, wherein the sensor comprises at leastone of an accelerometer, a gyroscope, a camera, and a video camera.